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This study attempts to make a compact humanoid robot acquire a giant-swing motion without any robotic models by using reinforcement learning; only the interaction with environment is available. Generally, it is widely said that this type of learning method is not appropriated to obtain dynamic motions because Markov property is not necessarily guaranteed during the dynamic task. However, in this study,...
The modified transpose Jacobian (MTJ) algorithm has been proposed, based on an approximated feedback linearization approach, in which there is no need to a priori knowledge of the plant dynamics. In this paper, a Learning-based modified transpose Jacobian (LMTJ) control algorithm is presented for trajectory tracking of robotic manipulators in an iterative operation mode. In this new control method,...
Output feedback of new robust-adaptive tracking control algorithm is proposed in this paper for robot manipulators and its robustness is analyzed simultaneously. This robust-adaptive approach can be received as the extension of the conventional adaptive scheme since the mapped estimated-parameters instead of estimator output are applied to controllers.
The modified transpose Jacobian (MTJ) algorithm is a recently proposed algorithm used in manipulator control. Based on an approximated feedback linearization approach the MTJ does not need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space. Based on the notion of transpose effective Jacobian,...
In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot,...
The Multiple Impedance Control (MIC) is a Model-Based algorithm that enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. Although the MIC has been appeared as an efficient algorithm, but to apply model-based control laws the system dynamics has to be modeled. Furthermore, computation of the system dynamics even if perfectly known, may require considerable...
For many applications, flexible-link robot arms may handle payloads that are not simple rigid bodies. In space applications, the RMS (remote manipulator system) will be manipulating satellites that may contain fuel or have flexible appendages. High-performance control schemes for flexible-link manipulators require end-point feedback. If the payload dynamics are not accounted for in the control design,...
In this paper we present a globally convergent adaptive control algorithm for n-link rigid robots. The algorithm can most easily be described as a combination of the passivity-based approach[14] and the guaranteed stability approach[4]. The algorithm relies on the passivity and the linearity-in-the-parameters properties of rigid robots, as in passivity-based parameter adaptive algorithms; however,...
In this paper we deal with the adaptive load sharing for two cooperating manipulators to hold a common object robustly. The task vectors to describe the task are first summarized, and a hybrid control scheme for the simultaneous control of the holding forces and the carrying positions is presented. Within this framework, the robust holding problem is analyzed with paying attention to the contact conditions...
This paper studies the kinematics and dynamics of underactuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully-actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix and an efficient inverse dynamics...
Given desired task space trajectories, the robot control problem is to choose the joint torques, T, so that the actual trajectories track the desired ones. If joint-based control algorithms are used, the transformation from task space to joint space requires an inversion of the Jacobian matrix, J. Typically this requires order (n3) operations where n is the number of links in a serial manipulator...
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